Robert Griffin Publications

  • Robert Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, Jerry Pratt, “Straight-Leg Walking Through Underconstrained Whole-Body Control”. In: IEEE International Conference on Robotics and Automation (ICRA). May 2018. In Print.
  • Tim Niklas Seyde, Apoorv Shrivastava, Johannes Englsberger, Jerry Pratt, Robert Griffin, “Inclusion of angular momentum during planning for Capture Point based walking”. In: IEEE International Conference on Robotics and Automation (ICRA). May 2018. In Print.
  • Robert Griffin, Tyson Cobb, Travis Craig, Mark Daniel, Nick van Dijk, Jeremy Gines. Koen Kramer, Shriya Shah, Olger Siebinga, Jesper Smith, and Peter Neuhaus, Stepping forward with Exoskeletons: Design and Approach of Team IHMC in the 2016 Cybathlon”. In: IEEE Robotics and Automation Magazine. December 2017.
  • Robert Griffin, Sylvain Bertrand, Georg Wiedebach, Alexander Leonessa, and Jerry Pratt, “Capture Point Trajectories for Reduced Knee Bend using Step Time Optimization”.  In: 17th IEEE-RAS International Conference on Humanoid Robots (Humanoids). November 2017.
  • Cameron Ridgewell, Robert Griffin, Tomonari Furukawa, Brian Lattimer, “Online Estimation of Friction Constraints for Multi-contact Whole Body Control”.  In: 17th IEEE-RAS International Conference on Humanoid Robots (Humanoids). November 2017.
  • Robert Griffin, Georg Wiedebach, Sylvain Bertrand, Alexander Leonessa, and Jerry Pratt, “Walking Stabilization Using Step Timing and Location Adjustment on the Humanoid Robot, Atlas”. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). September 2017.
  • Coleman Knabe, Robert Griffin, James Burton, Graham Cantor-Cooke, Lakshitha Dnatanarayana, Graham Day, Oliver Ebeling-Koning, Eric Hahn, Michael Hopkins, Jordan Neal, Jack Newton, Chris Nogales, Viktor Orekhov, John Peterson, John Seminatore, Yoonchang Sung, Jacob Webb, Nikolaus Wittenstein, Jason Ziglar, Alexander Leonessa, Brian Lattimerr, and Tomonari Furukawa, “Team VALOR’s ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge”. In: Journal of Field Robotics. February 2017.
  • Georg Wiedebach, Sylvain Bertrand, Tingfan Wu, Luca Fiorio, Stephen McCrory, Robert Griffin, Francesco Nori, and Jerry Pratt, “Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas”. In: 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids). September 2016.
  • Brian Lattimer, Joseph Starr, Josh McNeil, Chris Nogales, John Peterson, Jason Ziglar, James Burton, Coleman Knabe, Yoonchang Sung, John Seminatore, Robert Griffin, Dennis Hong, Daniel Lee, Jack Newton, Viktor Orekhov, Michael Rouleau, Michael Hopkins, and John Farley, “Humanoid Firefighting Robot for Structure Fires”. In: 14th International Conference and Exhibition on Fire Science and Engineering (Interflam). 2016.
  • Robert Griffin, Alan Asbeck, and Alexander Leonessa, “Disturbance Compensation and Step Adjustment for Push Recovery”. InIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). October 2016.
  • Robert Griffin and Alexander Leonessa, “Model Predictive Control for Dynamic Footstep Adjustment Using the Divergent Component of Motion”. In IEEE International Conference on Robotics and Automation (ICRA). May 2016.
  • Michael Hopkins, Robert Griffin, Alexander Leonessa, Brian Lattimer, and Tomonari Furukawa, “Design of a Compliant Bipedal Walking Controller for the DARPA Robotics Challenge”. In: 15th IEEE-RAS International Conference on Humanoid Robots (Humanoids). September 2015.
  • Michael Hopkins, Robert Griffin, and Alexander Leonessa, “Compliant Locomotion: A Model-Based Approach”. In: ASME Dynamics Systems and Control Magazine. June 2015.